This book describes how control of distributed systems can be advanced by an integration of control, communication, and computation. The global control objectives are met by judicious combinations of local and nonlocal observations taking advantage of various forms of communication exchanges between distributed controllers. Control architectures are considered according to increasing degrees of cooperation of local controllers: fully distributed or decentralized control, control with communication between controllers, coordination control, and multilevel control. The book covers also topics bridging computer science, communication, and control, like communication for control of networks, average consensus for distributed systems, and modeling and verification of discrete and of hybrid systems.
Examples and case studies are introduced in the first part of the text and developed throughout the book. They include:
- control of underwater vehicles,
- automated-guided vehicles on a container terminal,
- control of a printer as a complex machine, and
- control of an electric power system.
The book is composed of short essays each within eight pages, including suggestions and references for further research and reading.
By reading the essays collected in the book Coordination Control of Distributed Systems, graduate students and post-docs will be introduced to the research frontiers in control of decentralized and of distributed systems. Control theorists and practitioners with backgrounds in electrical, mechanical, civil and aerospace engineering will find in the book information and inspiration to transfer to their fields of interest the state-of-art in coordination control.
Part I Case Studies in Control of Distributed Systems. -C4C Case
Studies.- A Model Predictive Control Approach to AUVs Motion
Coordination.- Dynamic Optimization Techniques for the Motion Coordination of
Autonomous Vehicles.- Coordination challenges in networked vehicle systems:
Are we missing something?.- Leader-Follower Coordination Control for Urban
Traffic.- Prediction of Traffic Flow in a Road Network.- Zone-Control Based
Traffic Control of Automated Guided Vehicles.- Coordination Control of
Complex Machines.- Coordinated Model Predictive Control for Avoiding Voltage
Collapse in an Electric Power Transmission Net.- Part II Architectures of
distributed systems and their control.- System Architectures of Distributed
and of Multilevel Systems.- Control Architectures.- Part III Coordination
Control.- What is Coordination Control? .- Introduction to Coordinated Linear
Systems.- Coordinated Linear Systems.- LQ Optimal Control for Coordinated
Linear Systems.- Supervisory Control of Discrete-Event Systems.- Coordination
Control of Distributed Discrete-Event Systems.- Part IV Distributed Control.-
What is Team Theory?.- Team Theory and Information Structures of Stochastic
Dynamic Decentralized Decision/- Signaling of Information.- Distributed
Control of Manufacturing Networks: Analysis of Performance.- Part V
Distributed Control with Communication.- What is Distributed Control with
Direct Communication between Controllers?.- Communication Constraints in
Control and Observation of Distributed Systems.- Information Structures.-
Control Theory with Information Structures.- Common, Correlated, and Private
Information in Control of Decentralized Systems.- Distributed State
Estimation with Communication of Observations.- Part VI Multilevel Control.-
Complexity and Scalability of Hierarchical Control for Networked
Infrastructures.- Hierarchical Control for Road Traffic Management.-Part VII
Communication and Control of Distributed Systems.- Layered
BackpressureScheduling for Delay-Aware Routing in Ad Hoc Networks.- Cache
Control Issues in Pub-Sub Networks and Wireless Sensor Networks.- Detecting
Influential Nodes in Complex Networks with Range Probabilistic Control
Centrality.- Model Predictive Controllers over Differentiated Services Packet
Networks.- A System C/Matlab Co-Simulation Tool for Networked Control
Systems.- On Shannons Duality of a Source and a Channel and Nonanticipative
Communication and Communication.- Directed information on Abstract Spaces:
Properties and Extremum Problems.- Information Nonanticipative Rate
Distortion Function and its Applications.- Nonanticipative Duality of Sources
and Channels with Memory and Feedback.- Part VIII Informatics of Distributed
Systems Modeling and Verification.- An Introduction to the Verification of
Hybrid Systems using ARIADNE.- Formal Verification Applied to Robotic
Surgery.- Computing Reachable Sets of Differential Inclusions.- Modeling
Objects Moving in a Complex Environment with World Automata.- Distributed
Average Consensus in Digraphs.- Part IX Research Program.- Research Program
for Control of Distributed and of Multilevel Systems A Model Predictive
Control Approach to AUVs Motion Coordination.- Dynamic Optimization
Techniques for the Motion Coordination of Autonomous Vehicles.- Coordination
challenges in networked vehicle systems: Are we missing something?.-
Leader-Follower Coordination Control for Urban Traffic.- Prediction of
Traffic Flow in a Road Network.- Zone-Control Based Traffic Control of
Automated Guided Vehicles.- Coordination Control of Complex Machines.-
Coordinated Model Predictive Control for Avoiding Voltage Collapse in an
Electric Power Transmission Net.- Part II Architectures of distributed
systems and their control.- System Architectures of Distributed and of
Multilevel Systems.- Control Architectures.- Part III Coordination Control.-
What is Coordination Control? .- Introduction to Coordinated Linear Systems.-
Coordinated LinearSystems.- LQ Optimal Control for Coordinated Linear
Systems.- Supervisory Control of Discrete-Event Systems.- Coordination
Control of Distributed Discrete-Event Systems.- Part IV Distributed Control.-
What is Team Theory?.- Team Theory and Information Structures of Stochastic
Dynamic Decentralized Decision/- Signaling of Information.- Distributed
Control of Manufacturing Networks: Analysis of Performance.- Part V
Distributed Control with Communication.- What is Distributed Control with
Direct Communication between Controllers?.- Communication Constraints in
Control and Observation of Distributed Systems.- Information Structures.-
Control Theory with Information Structures.- Common, Correlated, and Private
Information in Control of Decentralized Systems.- Distributed State
Estimation with Communication of Observations.- Part VI Multilevel Control.-
Complexity and Scalability of Hierarchical Control for Networked
Infrastructures.- Hierarchical Control for Road Traffic Management.-Part VII
Communication and Control of Distributed Systems.- Layered Backpressure
Scheduling for Delay-Aware Routing in Ad Hoc Networks.- Cache Control Issues
in Pub-Sub Networks and Wireless Sensor Networks.- Detecting Influential
Nodes in Complex Networks with Range Probabilistic Control Centrality.- Model
Predictive Controllers over Differentiated Services Packet Networks.- A
SystemC/Matlab Co-Simulation Tool for Networked Control Systems.- On
Shannons Duality of a Source and a Channel and Nonanticipative Communication
and Communication.- Directed information on Abstract Spaces: Properties and
Extremum Problems.- Information Nonanticipative Rate Distortion Function and
its Applications.- Nonanticipative Duality of Sources and Channels with
Memory and Feedback.- Part VIII Informatics of Distributed Systems Modeling
and Verification.- An Introduction to the Verification of Hybrid Systems
using ARIADNE.- Formal Verification Applied to Robotic Surgery.- Computing
Reachable Sets ofDifferential Inclusions.- Modeling ObjectsMoving in a
Complex Environment with World Automata.- Distributed Average Consensus in
Digraphs.- Part IX Research Program.- Research Program for Control of
Distributed and of Multilevel Systems
The book is an edited collection. The background of the authors of the book includes: control engineering, control theory, mathematics, communication networks, informatics, marine engineering, traffic engineering, engineering of automated vehicles, control of printers, etc. Jan H. van Schuppen is affiliated as professor emeritus with the Department of Mathematics of Delft University of Technology in Delft, The Netherlands where he still teaches and advises and is further active with his consulting company Van Schuppen Control Research in Amsterdam, The Netherlands, since his retirement in October 2012.
His research interests include: control of decentralized and distributed systems, control of hybrid systems, control of discrete-event systems, realization, system identification, control of motorway networks and modeling and identification of biochemical reaction networks. He is Advising Editor of the journal Mathematics of Control, Signals, and Systems and in the period 2008--2011 was coordinator of the project Control for coordination of distributed systems which was financially supported by the European Commission.
